{"id":"https://openalex.org/W2151285963","doi":"https://doi.org/10.1163/156855307782148541","title":"Learning to transfer optimal navigation policies","display_name":"Learning to transfer optimal navigation policies","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2151285963","doi":"https://doi.org/10.1163/156855307782148541","mag":"2151285963"},"language":"en","primary_location":{"id":"doi:10.1163/156855307782148541","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855307782148541","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/handle/123456789/146553","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103337441","display_name":"Kristian Kersting","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kristian Kersting","raw_affiliation_strings":["a Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany","Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084071835","display_name":"Christian Plagemann","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Plagemann","raw_affiliation_strings":["b Autonomous Intelligent Systems Group, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, Building 079, 79110 Freiburg, Germany;, Email: plagem@informatik.uni-freiburg.de","Autonomous Intelligent Systems Group, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, Building 079, 79110 Freiburg, Germany;, Email: plagem@informatik.uni-freiburg.de"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b Autonomous Intelligent Systems Group, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, Building 079, 79110 Freiburg, Germany;, Email: plagem@informatik.uni-freiburg.de","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Autonomous Intelligent Systems Group, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, Building 079, 79110 Freiburg, Germany;, Email: plagem@informatik.uni-freiburg.de","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025714172","display_name":"Alexandru Cocora","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexandru Cocora","raw_affiliation_strings":["c Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany","Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["d Autonomous Intelligent Systems Group, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, Building 079, 79110 Freiburg, Germany","Autonomous Intelligent Systems Group, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, Building 079, 79110 Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"d Autonomous Intelligent Systems Group, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, Building 079, 79110 Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Autonomous Intelligent Systems Group, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, Building 079, 79110 Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078136609","display_name":"Luc De Raedt","orcid":"https://orcid.org/0000-0002-6860-6303"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","DE"],"is_corresponding":false,"raw_author_name":"Luc De Raedt","raw_affiliation_strings":["e Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany, Department of Computer Science, Katholieke Universiteit Leuven, Celestynenlaan 200A, B-3001 Leuven, Belgium","Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany, Department of Computer Science, Katholieke Universiteit Leuven, Celestynenlaan 200A, B-3001 Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"e Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany, Department of Computer Science, Katholieke Universiteit Leuven, Celestynenlaan 200A, B-3001 Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Machine Learning Laboratory, Institute for Computer Science, University of Freiburg, Georges-Koehler-Allee, 79110 Freiburg, Germany, Department of Computer Science, Katholieke Universiteit Leuven, Celestynenlaan 200A, B-3001 Leuven, Belgium","institution_ids":["https://openalex.org/I99464096","https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9083,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.88684643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"21","issue":"13","first_page":"1565","last_page":"1582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7425754070281982},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6063295602798462},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6029497981071472},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.597350537776947},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.5552098751068115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5470772385597229},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5353807210922241},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4838815927505493},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4783615469932556},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4724743068218231},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.43849942088127136},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.361868679523468},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.15394872426986694}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7425754070281982},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6063295602798462},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6029497981071472},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.597350537776947},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.5552098751068115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5470772385597229},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5353807210922241},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4838815927505493},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4783615469932556},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4724743068218231},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.43849942088127136},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.361868679523468},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.15394872426986694},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1163/156855307782148541","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855307782148541","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/146553","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/146553","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Advanced Robotics, vol. 21 (13), (1565-1582)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/146553","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/146553","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Advanced Robotics, vol. 21 (13), (1565-1582)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1424654272","https://openalex.org/W1511887321","https://openalex.org/W1521785144","https://openalex.org/W1530444831","https://openalex.org/W1576539603","https://openalex.org/W1800916125","https://openalex.org/W1977546238","https://openalex.org/W1987902506","https://openalex.org/W1991622981","https://openalex.org/W2017626051","https://openalex.org/W2021061679","https://openalex.org/W2033072307","https://openalex.org/W2070183171","https://openalex.org/W2094438588","https://openalex.org/W2117892041","https://openalex.org/W2121863487","https://openalex.org/W2125055259","https://openalex.org/W2152669282","https://openalex.org/W2157657326","https://openalex.org/W2163514996","https://openalex.org/W2167353639","https://openalex.org/W2233997862","https://openalex.org/W2341171179","https://openalex.org/W2505921950","https://openalex.org/W2611243847","https://openalex.org/W2989552998","https://openalex.org/W3020831056","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2562628082","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2378318959","https://openalex.org/W2077416514","https://openalex.org/W2157678966"],"abstract_inverted_index":{"Autonomous":[0],"agents":[1],"that":[2,164,173],"act":[3],"in":[4,144,159],"the":[5,14,37,44,50,60,64,88],"real":[6,156],"world":[7],"utilizing":[8],"sensory":[9],"input":[10],"greatly":[11],"rely":[12],"on":[13],"ability":[15],"to":[16,21,71,80,87,95,121,149],"plan":[17],"their":[18],"actions":[19],"and":[20,46,112,158,181],"transfer":[22,70],"these":[23,53],"skills":[24],"across":[25],"tasks.":[26,74],"The":[27],"majority":[28],"of":[29,49,137],"path-planning":[30,89],"approaches":[31,54],"for":[32,59],"mobile":[33,119],"robots,":[34],"however,":[35],"solve":[36],"current":[38,45],"navigation":[39,102,123,141,169],"problem":[40],"from":[41,83,104],"scratch,":[42],"given":[43],"goal":[47],"configuration":[48],"robot.":[51],"Consequently,":[52],"yield":[55],"highly":[56],"efficient":[57,168],"plans":[58],"specific":[61],"situation,":[62],"but":[63],"computed":[65],"policies":[66],"typically":[67],"do":[68],"not":[69],"other,":[72],"similar":[73],"In":[75,152],"this":[76],"paper,":[77],"we":[78,93,162],"propose":[79,94],"apply":[81],"techniques":[82],"statistical":[84],"relational":[85,97],"learning":[86],"problem.":[90],"More":[91],"precisely,":[92],"learn":[96],"decision":[98],"trees":[99],"as":[100],"abstract":[101],"strategies":[103],"example":[105],"paths.":[106],"Relational":[107],"abstraction":[108],"has":[109],"several":[110,153],"interesting":[111],"important":[113],"properties.":[114],"First,":[115],"it":[116,133],"allows":[117],"a":[118,140],"robot":[120],"imitate":[122],"behavior":[124],"shown":[125],"by":[126,129],"users":[127],"or":[128],"optimal":[130],"policies.":[131,185],"Second,":[132],"yields":[134,167],"comprehensible":[135],"models":[136],"behavior.":[138],"Finally,":[139],"policy":[142],"learned":[143],"one":[145],"environment":[146],"naturally":[147],"transfers":[148],"unknown":[150],"environments.":[151],"experiments":[154],"with":[155],"robots":[157],"simulated":[160],"runs,":[161],"demonstrate":[163],"our":[165,174],"approach":[166],"plans.":[170],"We":[171],"show":[172],"system":[175],"is":[176],"robust":[177],"against":[178],"observation":[179],"noise":[180],"can":[182],"outperform":[183],"hand-crafted":[184]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}